version: 66.02
glider: 117
mission: 4
dive: 246
start: 10 2 107 6 48 38
data:
$ID,117
$MISSION,4
$DIVE,246
$D_SURF,5
$D_FLARE,2
$D_TGT,120
$D_ABORT,1050
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,45
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51716
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.650002
$TGT_DEFAULT_LON,-122.8667
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-22399.375
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3715
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,243
$ROLL_MAX,3920
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2080
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,746
$VBD_MAX,3936
$C_VBD,3202
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-7.1405377
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,2
$SMARTDEVICE1,5
$SMARTDEVICE2,19
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.00439469
$SEABIRD_T_H,0.00064900791
$SEABIRD_T_I,2.5454905e-05
$SEABIRD_T_J,2.5957725e-06
$SEABIRD_C_G,-9.918622
$SEABIRD_C_H,1.1128846
$SEABIRD_C_I,-0.0018190074
$SEABIRD_C_J,0.00019276176
$GPS1,063459,4739.477,-12253.156,10,3.2,29,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-56.8
$GPS2,064732,4739.604,-12252.970,16,1.2,33,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.155,-0.139
$KALMAN_X,33686.3,101.1,-28.9,-34104.5,239.3
$KALMAN_Y,18202.7,139.0,-32.4,-18657.4,218.0
$MHEAD_RNG_PITCHd_Wd,209.9,385,-20.3,-8.889
$D_GRID,119
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.68,-97.8,0.0,0.0,0,101,0.00,0.00,-72.80,0.000,2,0.000,0.000,407,2195,2673
$GC,105,-1.68,-97.8,2.0,-3.6,12,160,13.25,2.55,-34.80,0.000,4,0.195,0.068,2525,3597,3603
$GC,199,-1.68,-97.8,7.9,-9.5,27,206,0.00,2.42,0.00,0.000,6,0.000,0.035,2525,2194,3604
$GC,272,-1.68,-97.8,15.3,-10.8,38,278,0.00,2.60,0.00,0.000,4,0.000,0.064,2525,802,3604
$GC,403,-1.68,-97.8,30.7,-10.6,52,407,0.00,2.42,0.00,0.000,6,0.000,0.036,2525,2201,3604
$GC,605,-1.68,-97.8,52.3,-10.7,68,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2200,3604
$GC,796,-1.68,-97.8,71.4,-10.1,83,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2201,3604
$GC,987,-1.68,-97.8,90.2,-10.2,98,991,0.00,2.60,0.00,0.000,4,0.000,0.065,2525,805,3604
$GC,1006,-1.68,-97.8,92.6,-10.6,99,1010,0.00,2.45,0.00,0.000,6,0.000,0.037,2525,2204,3604
$GC,1201,-1.68,-97.8,112.1,-9.4,114,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2204,3604
$STATE,1275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1275,begin apogee
$GC,1281,-0.38,0.0,119.5,9.6,120,1363,1.48,0.00,77.60,0.698,6,0.104,0.000,2814,2066,3202
$STATE,1364,end apogee,CONTROL_FINISHED_OK
$STATE,1364,begin climb
$GC,1366,1.68,97.8,122.4,0.0,127,1449,2.12,0.00,76.88,0.675,6,0.061,0.000,3268,2066,2803
$GC,1635,1.70,113.2,107.0,7.9,149,1652,0.00,2.60,11.77,0.715,4,0.000,0.056,3268,3475,2740
$GC,1831,1.70,113.2,90.1,9.8,163,1838,0.00,2.45,0.00,0.000,6,0.000,0.036,3268,2088,2738
$GC,2028,1.72,124.2,73.1,8.2,179,2041,0.00,2.60,7.97,0.723,4,0.000,0.054,3268,3479,2695
$GC,2108,1.72,124.2,65.6,10.2,185,2113,0.00,2.45,0.00,0.000,6,0.000,0.036,3269,2075,2694
$GC,2304,1.72,124.2,46.2,9.7,200,2308,0.00,2.62,0.00,0.000,4,0.000,0.067,3269,676,2694
$GC,2341,1.72,124.2,42.1,10.4,202,2349,0.00,2.50,0.00,0.000,6,0.000,0.035,3269,2085,2694
$GC,2538,1.73,138.4,24.3,8.0,218,2555,0.00,2.58,10.75,0.690,4,0.000,0.058,3268,3466,2636
$GC,2631,1.76,158.9,17.8,7.6,227,2656,0.00,2.42,15.68,0.665,6,0.000,0.035,3269,2074,2553
$GC,2722,1.76,158.9,10.6,9.6,241,2728,0.00,2.55,0.00,0.000,4,0.000,0.054,3269,3477,2552
$GC,2768,1.78,178.5,6.9,7.7,248,2792,0.00,2.45,14.80,0.663,6,0.000,0.036,3268,2076,2474
$STATE,2795,end climb,SURFACE_DEPTH_REACHED
$STATE,2796,begin surface coast
$FINISH,0.3,1.010552
$STATE,2845,end surface coast,CONTROL_FINISHED_OK
$STATE,2845,begin surface
$SM_CCo,2871,146.62,0.584,0,0,1162,500.41
$SM_GC,0.94,0.00,0.00,146.62,0.000,0.000,0.584,408,2213,1162,-11.46,0.37,500.41
$IRIDIUM_FIX,4722.92,-12251.79,021007,101024
$TT8_MAMPS,0.072865
$HUMID,2169
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,20.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,94.6,999.0
$24V_AH,23.6,38.042
$10V_AH,10.1,23.584
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,29.725,40.675,215.450,146.625,0.000,102.288,61.524,252.825,0.750,0.000,3914.000,33.674,485.468,1689.602,485.944,509.907,610.026,33.351,777.375,0.000,454.961,0.000,2.492
$DEVICE_MAMPS,194.818,68.263,722.514,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,184.444,0.000,0.000,0.000,0.000,0.000,820.482,3914.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.641,51.000
$DATA_FILE_SIZE,6465,260
$CFSIZE,260231168,250097664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,074005,4739.500,-12253.092,14,7.2,33,18.3